Browsing by Author "Vieira, Bruno"
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- COPADRIVe - A Realistic Simulation Framework for Cooperative Autonomous Driving ApplicationsPublication . Vieira, Bruno; Severino, Ricardo; Vasconcelos Filho, Ênio; Koubaa, Anis; Tovar, EduardoSafety-critical cooperative vehicle applications such as platooning, require extensive testing, however, the complexity and cost involved in this process, increasingly demands for realistic simulation tools to ease the validation of such technologies, helping to bridge the gap between development and real-word deployment. In this paper we propose a realistic co-simulation framework for cooperative vehicles, that integrates Gazebo, an advanced robotics simulator, with the OMNeT++ network simulator, over the Robot Operating System (ROS) framework, supporting the simulation of advanced cooperative applications such as platooning, in realistic scenarios.
- Tightening Up Security In Low Power Deterministic NetworksPublication . Tiberti, Walter; Vieira, Bruno; Kurunathan, John Harrison; Severino, Ricardo; Tovar, EduardoThe unprecedented pervasiveness of IoT systems is pushing this technology into increasingly stringent domains. Such application scenarios become even more challenging due to the demand for encompassing the interplay between safety and security. The IEEE 802.15.4 DSME MAC behavior aims at addressing such systems by providing additional deterministic, synchronous multi-channel access support. However, despite the several improvements over the previous versions of the protocol, the standard lacks a complete solution to secure communications. In this front, we propose the integration of TAKS, an hybrid cryptography scheme, over a standard DSME network. In this paper, we describe the system architecture for integrating TAKS into DSME with minimum impact to the standard, and we venture into analysing the overhead of having such security solution over application delay and throughput. After a performance analysis, we learn that it is possible to achieve a minor impact of 1% to 14% on top of the expected network delay, depending on the platform used, while still guaranteeing strong security support over the DSME network.
- Towards a Cooperative Robotic Platooning TestbedPublication . Vasconcelos Filho, Ênio; Nuno, Guedes; Mestre, Miguel; Vieira, Bruno; Severino, Ricardo; Koubaa, Anis; Tovar, EduardoThe deployment of information and communication technologies in vehicles and into the transportation infrastructure in general, holds the promise of significant improvements to traffic safety and efficiency. The ETSI ITS-G5 standard presents itself as a viable and already available solution, to enable such intelligent social and mobility scenarios in the near future, including cooperative and autonomous vehicle platooning. However, the usage of wireless communications in safety-critical scenarios poses several challenges, and their reliability and safety must be adequately tested and validated. To do this, the safety concerns and cost of relying on real vehicles is prohibitive for early deployments. A solution lies in the use of robotic platforms, since these are relatively cheaper and allow to partially test real platforms and components, as well as different control mechanisms. This work presents the development of a 1/10 scale Cooperative Platooning Robotic Testbed with such aim. Real ITS-G5 On Board Units (OBU) were integrated in the vehicles for communications support and a cooperative control algorithm that solely relies on communications was successfully implemented.
- Towards a Realistic Simulation Framework for Vehicular Platooning ApplicationsPublication . Vieira, Bruno; Severino, Ricardo; Koubaa, Anis; Tovar, EduardoCooperative vehicle platooning applications increasingly demand realistic simulation tools to ease their validation, and to bridge the gap between development and real-word deployment. However, their complexity and cost, often hinders its validation in the real-world. In this paper we propose a realistic simulation framework for vehicular platoons that integrates Gazebo with OMNeT++ over Robot Operating System (ROS) to support the simulation of realistic scenarios of autonomous vehicular platoons and their cooperative control.